In order to perform excellent manipulation of the robot, it is important to understand the characteristics of the controlled, and from what we know about the dynamics of the robot, it has the following characteristics:
1. The essence of the robot is a nonlinear system. There are many factors that cause the nonlinearity of the robot, such as the structure, transmission parts, and drive elements.
2. There is a coupling effect between each joint, which is manifested as the movement of a certain joint. It has a dynamic effect on other joints, causing each joint to withstand the disturbances that occur when the movement of the other joints occurs.
3. It is a time-varying system, and the dynamic parameters change with the change of the direction of joint movement.
From the point of view of use, the robot is a special automation equipment, and its control has the following characteristics and requirements:
1. Multi-axis motion and harmonious control to produce the required operating track. Since the hand movement of the robot is the component of all joint movements, in order to make the hand move according to the set rules, it is necessary to control the harmonious action of each joint well, including the movement track, action timing and other aspects of harmony.
2. High azimuth accuracy, large speed regulation scale
3. The static difference rate of the system should be small
4. The velocity error coefficient of each joint should be as common as possible
5. There is no overshoot in the direction, and the dynamic response is as fast as possible
6. Need to choose plus (decrease) speed control
8. From the perspective of system cost, it is required to reduce the hardware cost of the system as much as possible, and more software servo methods are used to improve the performance of the control system
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OTC welding robot selection
OTC welding robots*** are commonly used in 4 types: FD-B6, FD-B6L, FD-V8, FD-V8L. From the name, it can be seen that FD-B6 and FDB6L belong to one category, and FD-V8 and FD-V8L belong to one category. The numbers in these four types of designations represent their loads ...
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OTC Welding Robot Wire Feeder Type:
1. The wire feeder is divided into two types: integrated and separated according to the installation method. The wire feeder is installed on the rear of the upper arm of the robot and is integrated with the robot; The wire feeder is installed separately from the robot as a separate type.
Due to the integral wire feeder to the welding torch distance score ...
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Basic selection method of OTC welding robot
OTC welding robots*** are commonly used in 4 types: FD-B6, FD-B6L, FD-V8, FD-V8L. From the name, it can be roughly seen that FD-B6 and FDB6L belong to one category, and FD-V8 and FD-V8L belong to one category. The numbers in these four types of designations represent their loads ...
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Precautions for long-term storage of second-hand robots
When the second-hand manipulator is stored for a long time, it is necessary to pay attention to the following seven requirements:
1. The arrangement and placement of the parking airport should ensure that the entry and exit of any manipulator is not affected by other manipulators.
2. It should be parked indoors in a boring room. Those who have to park outdoors should choose a flat ...
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Robotic deburring tool type
1. Handheld robot deburring things
Handheld robotic deburring stuff is a common and flexible type of stuff. They usually consist of a robotic arm and an end effector equipped with a deburring tool. These things allow the operator to hold the robot in the hand where the need ...
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Special sensor for OTC robot arc welding
The OTC arc welding robot has five optional special sensor accessories for arc welding, which are FD-WD, FD-AR, FD-QD, FD-QF, FD-QT. During this period, the introduction of each type of arc welding special sensor equipment is as follows:
1. FD ...
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Analysis of the maintenance content of the ODI robot
The maintenance content of the robot is mainly to replace the smooth oil of the six shaft reducers and the smooth oil of the J4 shaft gear shaft, the replacement of wearing parts, the operation status of each module in the control cabinet, and the wear and tear of each cable in the control cabinet.
If the grease is not replaced for a long time, the six axes of the robot will be formed.
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OTC robots are mainly used in the field
Nowadays, tasks that are too dirty, too tiring, too risky, too precise, too heavy, or too repetitive and boring for humans are often done by robots. Many industrial robots are used in the production line of the factory engaged in the manufacturing industry, and other application areas include: injection molding industry, construction industry, stone ...
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Classification of parallel robots - OTC robots
From the perspective of movement mode, parallel organization can be divided into plane organization and spatial organization; Subdivisions can be divided into planar moving organizations, planar moving rolling organizations, spatial pure moving organizations, spatial pure rolling organizations and spatial mixed motion organizations, and can also be classified according to the number of degrees of freedom of parallel organizations:
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Classification of Degrees of Freedom of Parallel Robots - OTC Robots
From the perspective of movement mode, parallel robots can be divided into plane organization and space organization; Subdivisions can be divided into planar moving organizations, planar moving rolling organizations, spatial pure moving organizations, spatial pure rolling organizations and spatial mixed motion organizations, and can also be classified according to the number of degrees of freedom of parallel organizations:
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Two gears for the robot – OTC Odichi
1. Linear drive organization
The linear transmission organization is generally divided into: (1) rack and pinion equipment; (2) Ball screw;
(1) Rack and pinion equipment
Generally, the rack is fixed. The rotational motion of the gear is converted into the linear motion of the pallet.
Strengths: Simple structure.
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OTC robot contacts need to be replaced
Contacts are one of the items that often replace welding materials. During this time, the contact fixes the direction of the wire, and since the instantaneous current that moves when the arc is closed after welding is too simple to melt the contact outlet, it must have a role. The wire and contacts have been welded together, so that the welding can no longer be performed ...
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Classification of industrial robots - OTC robots
Industrial robots refer to multi-joint manipulators or multi-degree-of-freedom robots for the industrial field. In addition to industrial robots, special robots are used in non-manufacturing industries and serve human beings, including: service robots, underwater robots, entertainment robots, military robots, ...
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Welding robot wire feeder type - OD robot
1. The wire feeder is divided into two types: integrated and separated. The wire feeder is installed on the rear of the upper arm of the robot and is integrated with the robot; The wire feeder and the robot are separated from each other.
Because the distance from the integrated wire feeder to the welding gun is more than ...
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Robot tool quick-change features
1. Improve the production power
In the production process, the robot quick change technology can quickly replace different things of the robot to adapt to different production needs, and then improve the production power of the robot, reduce the time of changing things, and greatly shorten the production cycle.
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Key points for judging the performance of industrial robots
Work space refers to the orientation mobilization of a specific part of the robot arm under certain conditions. The nature and size of the workspace reflect the size of the robot's working capacity. When understanding the robot's working space, pay attention to the following:
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Advantages of OTC robot synchronous feeding welding system
The primary advantages of the OTC robot synchronous feeding welding system:
1. The OTC robot synchronous feeding welding system has the ability to complete the ultra-high-speed control wire feeding, and the welding ability of the OTC Welbee welding used is also directly ...
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Advantages of ODS electric gripper over pneumatic gripper
In the field of industrial automation, grippers are a common and important tool. The role of the gripper is to clamp and fix objects, and are used for applications such as automatic installation, material handling and processing. And among the types of grippers, electric grippers and pneumatic grippers are two common picks. Well, the electric gripper ...
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The type of control of the robot - OTC robot
1. The type of robot control can be divided into open-loop control and closed-loop control according to whether there is a reaction or not, during which open-loop control is generally considered to be more accurate, but the requirements are more chaotic. Generally speaking, if we want to achieve open-loop accurate manipulation, we need to know the accurate model of the controlled object ...
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Encoder Failure Phenomenon - OTC Odichi
1. Encoder own problem: It refers to the problem of the encoder's own components, resulting in its inability to generate and output correct waveforms. In this case, the encoder needs to be replaced or the internal equipment repaired.
2. Encoder connection cable problem: the probability of this problem is the highest, repair ...
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